Capital Stock and Earnings Per Share - Cash Dividends per Common and Preferred Share (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended								12 Months Ended
	Dec. 31, 2019	Sep. 27, 2019	Jun. 28, 2019	Mar. 29, 2019	Dec. 31, 2018	Sep. 28, 2018	Jun. 29, 2018	Mar. 30, 2018	Dec. 31, 2019	Dec. 31, 2018
Earnings Per Share [Abstract]
Quarterly dividend (in dollars per share)	$ 0.07	$ 0.07	$ 0.07	$ 0.07	$ 0.07	$ 0.07	$ 0.07	$ 0.07	$ 0.28	$ 0.28
Common Stock, Amount ($ in millions)	$ 23.5	$ 23.5	$ 23.4	$ 23.4	$ 23.4	$ 24.5	$ 24.4	$ 24.3	$ 93.8	$ 96.6
Dividend Per Preferred Share (in dollars per share)	$ 12.50	$ 12.50	$ 12.50	$ 12.50	$ 12.50	$ 12.78			$ 50.00	$ 25.28
Preferred Stock, Amount ($ in millions)	$ 17.2	$ 17.3	$ 17.2	$ 17.3	$ 17.3	$ 17.6			$ 69.0	$ 34.9